Title :
Incremental sliding mode control of the ball and beam
Author_Institution :
Dept. of Math. & Stat., Queen´´s Univ., Kingston, Ont., Canada
fDate :
10/1/2002 12:00:00 AM
Abstract :
We show that, using a switched periodic controller, we can "incrementally track" integral curves of certain Lie brackets of the drift and controlled vector fields for the ball and beam. This allows us to design a sliding mode controller which overcomes the problems associated with singular states and results in effective global tracking of large motions of the ball.
Keywords :
control system synthesis; motion control; periodic control; sampled data systems; time-varying systems; variable structure systems; Lie brackets; ball and beam system; controlled vector fields; discontinuous feedback; drift; global tracking; incremental sliding mode control; switched periodic controller; Automatic control; Frequency response; Linear systems; Polynomials; Robust control; Sliding mode control; Stability; Structural beams; Uncertain systems; Uncertainty;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.803538
